“Reconstruction of Objects with Jagged Edges through
Rao-Blackwellized Fitting of Piecewise Smooth Subdivision Curves”
by
M. Kaess
and
F. Dellaert.
In Proceedings of the IEEE 1st International Workshop on Higher-Level
Knowledge in 3D Modeling and Motion Analysis, (Nice, France), Oct.
2003, pp. 39-47.

Abstract

In some applications objects are known to have nonsmooth or "jagged"
edges, which are not well approximated by smooth curves. We use
subdivision curves as a simple but flexible curve representation, which
allows tagging corners to model non-smooth features along otherwise smooth
curves. A Markov chain Monte Carlo approach yields an approximate
posterior distribution over tags, while Rao-Blackwellization allows us to
integrate out the control point locations by an approximation. We apply
this general methodology to multi-view reconstruction of piecewise smooth
curves from multiple calibrated views in which the object has been
segmented from the background. Results are shown for multiple images of
two pot shards as would be encountered in archaeological applications.